Robot and robot system
Patent Information
- Application Number
- JP2023042748
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-03-17
- Publication Date
- 2026-03-04
AI Technical Summary
The existing robot design in Patent Document 1 is prone to damage due to impact when the movable stopper hits the fixed stopper, causing potential harm to the first and second arms.
The robot incorporates a stopper unit with elongated through holes and locking members that alleviate impact forces by allowing for friction and deformation, reducing the risk of collision and damage by aligning the through holes with the direction of force application.
The solution effectively reduces damage to the robot arms by mitigating impact forces through friction and deformation, ensuring smoother arm movement and prolonged component lifespan.
Smart Images
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Abstract
Description
[Technical field]
[0001] The present invention relates to a robot and a robot system. [Background technology]
[0002] Patent Document 1 discloses a robot including a first arm and a second arm rotatably connected to the first arm via a joint. The robot includes a stopper that restricts the angle between the first arm and the second arm to a predetermined angle or more. The stopper includes a fixed-side stopper provided on the first arm and a movable-side stopper provided on the second arm. The movable-side stopper abuts against the fixed-side stopper, thereby restricting the angle between the arms to a predetermined angle or more. [Prior art documents] [Patent documents]
[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-123690 Summary of the Invention [Problem to be solved by the invention]
[0004] In the robot described in Patent Document 1, it is conceivable that the first arm and / or the second arm may be damaged by the impact when the movable stopper hits the fixed stopper. [Means for solving the problem]
[0005] The robot comprises a first member, a second member rotatably connected to the first member, a regulating member having an abutment portion that abuts against the first member when the angle between the first member and the second member is a predetermined angle and in which a through hole is formed, a first locking member that locks the regulating member to the second member through the through hole, and a second locking member that locks the regulating member to the second member, wherein the distance between the abutment portion and the first locking member is shorter than the distance between the abutment portion and the second locking member, and the through hole is formed in an elongated hole shape that is longer than the diameter of the first locking member from the first locking member toward the abutment portion.
[0006] The robot system is a robot system including a robot and a controller that controls the robot, wherein the robot includes a first member, a second member rotatably connected to the first member, a regulating member having an abutment portion that abuts against the first member when the angle between the first member and the second member is a predetermined angle and in which a through hole is formed, a first locking member that locks the regulating member to the second member through the through hole, and a second locking member that locks the regulating member to the second member, wherein the distance between the abutment portion and the first locking member is shorter than the distance between the abutment portion and the second locking member, and the through hole is formed longer than the diameter of the first locking member from the first locking member toward the abutment portion. [Brief description of the drawings]
[0007] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a robot system. [Diagram 2] FIG. 2 is a perspective view showing a base, a first arm, and a second arm of the robot. [Diagram 3] An enlarged view of part A in FIG. [Figure 4] FIG. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] FIG. 4 is an exploded perspective view showing the robot and the stopper unit. [Figure 8] FIG. 4 is a front view of the stopper unit as viewed along the second axis. [Figure 9] An enlarged view of part B in FIG. [Figure 10] 13A and 13B are diagrams illustrating an example in which the long side of the long hole shape of the first through hole is tapered on one side. [Figure 11] 13A and 13B are diagrams illustrating an example in which the long sides of the long hole shape of the first through hole are curved. [Figure 12] An enlarged view of part B in FIG. [Figure 13] FIG. 4 is a front view showing a stopper unit having a cutout portion. [Figure 14] FIG. 4 is a front view showing a stopper unit having a cutout portion and a second cutout portion. [Figure 15] FIG. 4 is a perspective view showing a stopper unit having a thin portion. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0008] As shown in FIG. 1, the robot system 1 includes a robot 2 and a controller 3. The robot 2 is a type of vertical articulated robot. The controller 3 controls the robot 2. The robot 2 includes a base 5, a first arm 6, a second arm 7, a third arm 8, a fourth arm 9, a fifth arm 10, and a sixth arm 11. The base 5 is mounted on an installation surface 13 such as a floor or a workbench. The first arm 6 is rotatably connected to the base 5.
[0009] The first arm 6 is connected to the base 5 on the side opposite the installation surface 13 side of the base 5. The first arm 6 is an example of a first member. The first arm 6 is rotatable around a first axis J1. The second arm 7 is rotatably connected to the first arm 6. The second arm 7 is connected to the first arm 6 on the side opposite the base 5 side of the first arm 6. The second arm 7 is an example of a second member. The second arm 7 is rotatable around a second axis J2. The second axis J2 is the rotation axis of the second arm 7. The third arm 8 is rotatably connected to the second arm 7. The third arm 8 is connected to the second arm 7 on the side opposite the first arm 6 side of the second arm 7. The third arm 8 is rotatable around a third axis J3.
[0010] The fourth arm 9 is rotatably connected to the third arm 8. The fourth arm 9 is connected to the third arm 8 on a side of the third arm 8 opposite the second arm 7 side. The fourth arm 9 is rotatable around a fourth axis J4. The fifth arm 10 is rotatably connected to the fourth arm 9. The fifth arm 10 is connected to the fourth arm 9 on a side of the fourth arm 9 opposite the third arm 8 side. The fifth arm 10 is rotatable around a fifth axis J5.
[0011] The sixth arm 11 is rotatably connected to the fifth arm 10. The sixth arm 11 is connected to the fifth arm 10 on the side of the fifth arm 10 opposite to the fourth arm 9 side. The sixth arm 11 is rotatable around a sixth axis J6. The robot 2 is a six-axis robot having six rotation axes, the first axis J1 to the sixth axis J6. An end effector (not shown) can be attached to the sixth arm 11. The end effector is detachable from the sixth arm 11. The robot 2 can be equipped with various types of end effectors according to the contents of various tasks.
[0012] The controller 3 is connected to the robot 2. The robot 2 and the controller 3 are capable of communicating with each other. The controller 3 transmits various control signals to the robot 2. The robot 2 performs various tasks based on the control signals received from the controller 3. The connection between the robot 2 and the controller 3 may be wired or wireless.
[0013] FIG. 2 is a perspective view showing the base 5, first arm 6, and second arm 7 of the robot 2. As shown in FIG. 2, the robot 2 has a stopper unit 15. The stopper unit 15 is an example of a restricting member. The stopper unit 15 is provided on the second arm 7. As shown in FIG. 3, which is an enlarged view of a portion A in FIG. 2, the stopper unit 15 is engaged with the second arm 7 by a first bolt 16 and a second bolt 17. The first bolt 16 is an example of a first engaging member. The second bolt 17 is an example of a second engaging member.
[0014] The stopper unit 15 is provided on a surface of the second arm 7 that intersects with the second axis J2. The stopper unit 15 includes a stopper member 18, a first abutment member 19, and a second abutment member 20. The stopper member 18 is a rod-shaped plate member made of metal. When viewed along the second axis J2, the stopper member 18 is curved in an arc. The stopper member 18 extends along an arc centered on the second axis J2. The first abutment member 19 is provided at one end of the arc-shaped stopper member 18. The first abutment member 19 is an example of an abutment portion.
[0015] The second abutment member 20 is provided at the other end of the arc-shaped stopper member 18. The first abutment member 19 and the second abutment member 20 are each made of hard rubber. When the angle θ1 between the first arm 6 and the second arm 7 reaches a predetermined angle by the second arm 7 rotating around the second axis J2, the first abutment member 19 abuts against the first arm 6. The angle θ1 is the angle between the first arm 6 and the second arm 7 in the direction from the second abutment member 20 to the first abutment member 19. The direction from the second abutment member 20 to the first abutment member 19 is called the first direction D1. Conversely, the direction from the first abutment member 19 to the second abutment member 20 is called the second direction D2. The first abutment member 19 is located at the end of the stopper unit 15 in the first direction D1. The second abutment member 20 is located at the end of the stopper unit 15 in the second direction D2.
[0016] The first arm 6 is provided with a first receiving portion 21 at a position facing the first contact member 19. The first receiving portion 21 is provided at a position facing the first contact member 19 when the second arm 7 rotates in the first direction D1. The first receiving portion 21 is provided in a concave shape on the first arm 6. As shown in FIG. 4, when the second arm 7 rotates in the first direction D1 around the second axis J2, the first contact member 19 of the stopper unit 15 abuts against the first arm 6 before the second arm 7 collides with the first arm 6. That is, when the second arm 7 rotates in the first direction D1 around the second axis J2, the angle θ1 between the first arm 6 and the second arm 7 can be regulated by the stopper unit 15. This makes it possible to prevent the first arm 6 and the second arm 7 from colliding with each other. The first contact member 19 of the stopper unit 15 abuts against the first receiving portion 21 of the first arm 6 shown in FIG. 3.
[0017] As shown in FIG. 5, the first arm 6 is provided with a second receiving portion 22 at a position facing the second abutment member 20. The second receiving portion 22 is provided at a position facing the second abutment member 20 when the second arm 7 rotates in the second direction D2. The second receiving portion 22 is provided in a concave shape on the first arm 6. When the angle θ2 between the first arm 6 and the second arm 7 reaches a predetermined angle by the second arm 7 rotating in the second direction D2 about the second axis J2, the second abutment member 20 abuts against the first arm 6. The angle θ2 is the angle between the first arm 6 and the second arm 7 in the direction from the first abutment member 19 toward the second abutment member 20. In other words, the angle θ2 is the angle between the first arm 6 and the second arm 7 in the second direction D2.
[0018] As shown in FIG. 6, when the second arm 7 rotates in the second direction D2 around the second axis J2, the second abutment member 20 of the stopper unit 15 abuts against the first arm 6 before the second arm 7 collides with the first arm 6. In other words, when the second arm 7 rotates in the second direction D2 around the second axis J2, the angle θ2 between the first arm 6 and the second arm 7 can be restricted by the stopper unit 15. This makes it possible to prevent the first arm 6 and the second arm 7 from colliding with each other. The second abutment member 20 of the stopper unit 15 abuts against the second receiving portion 22 of the first arm 6 shown in FIG. 5.
[0019] As shown in FIG. 7, the stopper member 18 is formed with a first through hole 24 and a second through hole 25. The first through hole 24 and the second through hole 25 each penetrate the stopper member 18 and reach the second arm 7. The second arm 7 is formed with a first screw hole 26 and a second screw hole 27. The first screw hole 26 overlaps with the first through hole 24 when the stopper member 18 and the second arm 7 are viewed along the second axis J2. The second screw hole 27 overlaps with the second through hole 25 when the stopper member 18 and the second arm 7 are viewed along the second axis J2. The first bolt 16 is fastened to the first screw hole 26 of the second arm 7 through the first through hole 24 of the stopper member 18. That is, the first bolt 16 engages the stopper unit 15 to the second arm 7 through the first through hole 24.
[0020] The second bolt 17 is fastened to the second screw hole 27 of the second arm 7 through the second through hole 25 of the stopper member 18. That is, the second bolt 17 engages the stopper unit 15 to the second arm 7 through the second through hole 25. When the stopper unit 15 and the second arm 7 are viewed along the second axis J2, the distance between the first abutment member 19 and the first through hole 24 is shorter than the distance between the first abutment member 19 and the second through hole 25. That is, the first through hole 24 is located on one end side of the stopper unit 15 in the first direction D1. On the other hand, the second through hole 25 is located on the other end side of the stopper unit 15 in the second direction D2. Therefore, when the stopper unit 15 and the second arm 7 are viewed along the second axis J2, the distance between the first abutment member 19 and the first bolt 16 is shorter than the distance between the first abutment member 19 and the second bolt 17.
[0021] As shown in FIG. 8, the first through hole 24 of the stopper unit 15 is formed in an elongated hole shape. The elongated hole shape of the first through hole 24 is longer than the diameter of the first bolt 16 from the first bolt 16 toward the first abutting member 19. According to this robot 2, when the first abutting member 19 abuts against the first arm 6, the impact can be mitigated by friction between the stopper unit 15 and the first bolt 16. In other words, when the first abutting member 19 of the stopper unit 15 abuts against the first arm 6, the impact force that the first bolt 16 receives from the stopper unit 15 can be mitigated. Therefore, the occurrence of damage to the first arm 6 and the second arm 7 can be reduced.
[0022] Further, the second through hole 25 of the stopper unit 15 is formed in an elongated hole shape. The elongated hole shape of the second through hole 25 is longer than the diameter of the second bolt 17 from the second bolt 17 toward the second abutting member 20. According to this robot 2, when the second abutting member 20 abuts against the first arm 6, the impact can be mitigated by friction between the stopper unit 15 and the second bolt 17. In other words, when the second abutting member 20 of the stopper unit 15 abuts against the first arm 6, the impact force that the second bolt 17 receives from the stopper unit 15 can be mitigated. Therefore, the occurrence of damage to the first arm 6 and the second arm 7 can be reduced.
[0023] When viewed from a direction along the second axis J2, the elongated shape of the first through hole 24 extends along the first direction D1, as shown in FIG. 8. According to this configuration, the extending direction of the elongated shape of the first through hole 24 can be easily aligned with the direction of the force acting on the stopper unit 15 when the first abutting member 19 abuts against the first arm 6. Therefore, the impact force that the first bolt 16 receives from the stopper unit 15 can be mitigated. Similarly, when viewed from a direction along the second axis J2, the elongated shape of the second through hole 25 extends along the second direction D2. According to this configuration, the extending direction of the elongated shape of the second through hole 25 can be easily aligned with the direction of the force acting on the stopper unit 15 when the second abutting member 20 abuts against the first arm 6. Therefore, the impact force that the second bolt 17 receives from the stopper unit 15 can be mitigated.
[0024] When viewed from the direction along the second axis J2, the first through hole 24 has a width dimension H1 in a direction intersecting with the extending direction of the elongated hole shape, which decreases from the first bolt 16 toward the first abutting member 19, as shown in FIG. 8. When the first abutting member 19 abuts against the first arm 6, the stopper unit 15 receives a force from the first arm 6 in the second direction D2. Therefore, the stopper unit 15 tries to displace in the second direction D2 relative to the second arm 7. At this time, the first bolt 16 can deform the stopper member 18 in a direction that widens the width dimension H1 of the first through hole 24. Therefore, the impact force that the first bolt 16 receives from the stopper unit 15 can be mitigated.
[0025] Similarly, when viewed from the direction along the second axis J2, the second through hole 25 has a width dimension H2 in a direction intersecting the extending direction of the elongated hole shape that decreases from the second bolt 17 toward the second abutting member 20. When the second abutting member 20 abuts against the first arm 6, the stopper unit 15 receives a force from the first arm 6 in the first direction D1. Therefore, the stopper unit 15 tries to displace in the first direction D1 relative to the second arm 7. At this time, the second bolt 17 can deform the stopper member 18 in a direction that widens the width dimension H2 of the second through hole 25. Therefore, the impact force that the second bolt 17 receives from the stopper unit 15 can be mitigated.
[0026] In this embodiment, the long side of the long hole shape of the first through hole 24 is tapered on both sides. As shown in FIG. 9, which is an enlarged view of part B in FIG. 8, the long side tapered on both sides means that both long sides of the long hole shape are inclined with respect to the tangent line L2. The tangent line L2 is a tangent line to the first through hole 24 at the intersection of the line segment L1 and the first through hole 24. The line segment L1 is a straight line that passes through the center of the first bolt 16 from the position of the second axis J2 and crosses the stopper member 18. Similarly, the long side of the long hole shape of the second through hole 25 shown in FIG. 8 is also tapered on both sides.
[0027] The long sides of the long hole shape of the first through hole 24 and the second through hole 25 are not limited to being tapered on both sides. The long sides of the long hole shape of the first through hole 24 and the second through hole 25 may each be tapered on one side as shown in FIG. 10. The one-side tapering is a state in which one of the two long sides of the long hole shape is tapered and the other of the long sides extends along the tangent line L2. In the one-side tapering, either of the two long sides of the long hole shape may be tapered. Even if the long side of the long hole shape is tapered on one side, the same effect as that of the two-side tapering can be obtained. In addition, the two long sides of the long hole shape are not limited to being straight. As shown in FIG. 11, the two long sides of the long hole shape may be curved. A configuration in which one of the two long sides of the long hole shape is curved and the other is straight can also be applied. For example, a circular arc is applied as the curve constituting the long side. The same effect as that of the two-side tapering can be obtained even in a configuration in which at least one of the two long sides of the long hole shape is curved.
[0028] As shown in FIG. 12, in this embodiment, among the portions where the line segment L1 and the stopper unit 15 overlap, the dimension of the first portion 31 is smaller than the dimension of the second portion 32. As described above, the line segment L1 is a straight line that crosses the stopper member 18 from the position of the second axis J2 through the center of the first bolt 16. Therefore, the line segment L1 crosses the stopper unit 15 from the second axis J2 via the first through hole 24 when viewed from the direction along the second axis J2. The first portion 31 is a portion between the first through hole 24 and the second axis J2 among the portions where the line segment L1 and the stopper unit 15 overlap. The second portion 32 is a portion that is located beyond the first through hole 24 from the second axis J2. When the second axis J2 side is defined as the inner side of the first through hole 24, the first portion 31 is located inner than the first through hole 24. The second portion 32 is located outer than the first portion 31 when viewed from the position of the second axis J2.
[0029] When the first contact member 19 abuts against the first arm 6, the first bolt 16 receives a force from the stopper member 18 toward the outside with the second bolt 17 as a fulcrum. In this embodiment, the dimension of the first portion 31 located on the inside of the first through hole 24 is smaller than the dimension of the second portion 32 located on the outside of the first through hole 24. In this stopper unit 15, the rigidity of the first portion 31 is lower than the rigidity of the second portion 32. According to this configuration, when the first bolt 16 deforms the stopper member 18 in a direction to increase the width dimension of the first through hole 24, the deformation of the first portion 31 can be made larger than that of the second portion 32. Therefore, the impact force that the first arm 6 receives toward the outside from the first bolt 16 can be mitigated.
[0030] As shown in FIG. 13, the stopper unit 15 may have a configuration having a notch 35. The notch 35 is an example of a first notch. The notch 35 is formed in the stopper member 18. The notch 35 is formed between the first through hole 24 and the second through hole 25. In other words, the notch 35 is formed between the first bolt 16 and the second bolt 17. According to this configuration, when the first abutting member 19 of the stopper unit 15 abuts against the first arm 6, the stopper unit 15 is easily deformed at the notch 35. Therefore, the impact force that the first bolt 16 receives from the stopper unit 15 can be mitigated by the deformation at the notch 35.
[0031] The notch 35 is formed on the second axis J2 side of the stopper member 18. The notch 35 is formed on the second axis J2 side, which is the rotation center of the second arm 7. In other words, the notch 35 is formed on the rotation center side of the second arm 7. The notch 35 is formed in the stopper member 18 in a direction that is concave from the second axis J2 side toward the outside. When the first abutting member 19 collides with the first arm 6, the stopper unit 15 receives a force from the first arm 6. At this time, the force that the stopper unit 15 receives from the first arm 6 acts in a direction that compresses the stopper unit 15 with the second bolt 17 as a fulcrum. Since the notch 35 is formed on the second axis J2 side of the stopper member 18, it is easy to bend the stopper unit 15 at the notch 35 with the second bolt 17 as a fulcrum. Therefore, the impact force that first bolt 16 receives from stopper unit 15 is easily mitigated by deformation at notch 35 .
[0032] As shown in FIG. 14, the stopper unit 15 may have a configuration having a notch 35 and a second notch 36. The notch 35 has the same configuration as the example shown in FIG. 13. The second notch 36 is formed in the stopper member 18. The second notch 36 is formed inside the notch 35. The second notch 36 is formed inside the notch 35 in a direction that is concave from the second axis J2 side toward the outside. According to this configuration, since the stopper unit 15 has the notch 35 and the second notch 36, it is easier to bend the stopper unit 15 at the notch 35 with the second bolt 17 as a fulcrum. As a result, it is easier to reduce the impact force that the first bolt 16 receives from the stopper unit 15.
[0033] As shown in FIG. 15, the stopper unit 15 may have a thin portion 37. The thin portion 37 is formed in the stopper member 18. The thin portion 37 is formed between the first through hole 24 and the second through hole 25. In other words, the thin portion 37 is formed between the first bolt 16 and the second bolt 17. With this configuration, when the first contact member 19 of the stopper unit 15 contacts the first arm 6, the stopper unit 15 is easily deformed by the thin portion 37. Therefore, the impact force that the first bolt 16 receives from the stopper unit 15 can be mitigated by the deformation of the thin portion 37.
[0034] A configuration in which a thin-walled portion 37 is formed can also be applied to the stopper unit 15 having the notched portion 35 shown in FIG. 13. According to this configuration, the impact force that the first bolt 16 receives from the stopper unit 15 can be further mitigated by the deformation of the notched portion 35 and the thin-walled portion 37. Also, a configuration in which a thin-walled portion 37 is formed can also be applied to the stopper unit 15 having the notched portion 35 and the second notched portion 36 shown in FIG. 14. According to this configuration, the impact force that the first bolt 16 receives from the stopper unit 15 can be further mitigated by the deformation of the notched portion 35, the second notched portion 36, and the thin-walled portion 37.
[0035] In the description of the robot system 1, the first arm 6 is an example of the first member, and the second arm 7 is an example of the second member. However, the robot system 1 may have the second arm 7 as an example of the first member, and the first arm 6 as an example of the second member. In this case, the stopper unit 15 is provided on the first arm 6. Also, in this case, the first receiving portion 21 and the second receiving portion 22 are provided on the second arm 7.
[0036] In the robot system 1, a configuration in which the stopper unit 15 is provided on the second arm 7 is applied. However, a configuration in which the stopper unit 15 is provided on the third arm 8 can also be applied. In this case, the third arm 8 corresponds to the second member, and the second arm 7 corresponds to the first member. In this case, the first receiving portion 21 and the second receiving portion 22 are provided on the second arm 7.
[0037] Also applicable is a configuration in which the stopper unit 15 is provided on the second arm 7, and the first receiving portion 21 and the second receiving portion 22 are provided on the third arm 8. In this case, the third arm 8 corresponds to the first member, and the second arm 7 corresponds to the second member. Furthermore, it is also applicable to a configuration in which the stopper unit 15 is provided on both the second arm 7 and the third arm 8.
[0038] Furthermore, the elongated hole shape of the first through hole 24 and the second through hole 25 may be any shape that generates friction between the stopper unit 15 and the first bolt 16 and the second bolt 17, respectively, and may be, for example, elliptical or rectangular.
[0039] Furthermore, the long hole shape of the first through hole 24 and the second through hole 25 only needs to extend along the direction in which friction occurs between the stopper unit 15 and the first bolt 16 and between the stopper unit 15 and the second bolt 17, respectively, and may extend, for example, along the tangential direction or radial direction of a circle centered on the second axis J2.
[0040] Further, the second through hole 25 does not have to be an elongated hole shape, and may be, for example, a circular shape. Further, the second through hole 25 may be a notch formed in an end of the plate-shaped stopper member 18.
[0041] Also, the second through hole 25 does not necessarily have to be formed in the stopper member 18. In that case, the second locking member may be, for example, a hook that is caught on the stopper member 18, or a structure that holds the stopper member 18 by pinching it. Additionally, the first and second locking members may be pins.
[0042] The robot 2 is not limited to a vertical articulated robot, but may be a horizontal articulated robot. [Explanation of symbols]
[0043] REFERENCE SIGNS LIST 1...robot system, 2...robot, 3...controller, 5...base, 6...first arm, 7...second arm, 8...third arm, 9...fourth arm, 10...fifth arm, 11...sixth arm, 15...stopper unit, 16...first bolt, 17...second bolt, 18...stopper member, 19...first abutment member, 20...second abutment member, 21...first receiving portion, 22...second receiving portion, 24...first Through hole, 25...second through hole, 26...first screw hole, 27...second screw hole, 31...first portion, 32...second portion, 35...notch portion, 36...second cutout portion, 37...thin portion, J1...first axis, J2...second axis, J3...third axis, J4...fourth axis, J5...fifth axis, J6...sixth axis, θ1...angle, θ2...angle, D1...first direction, D2...second direction, H1...width dimension, H2...width dimension, L1...line segment, L2...tangent.
Claims
1. A first member; a second member rotatably connected to the first member about a rotation axis; a restricting member having a contact portion that contacts the first member when the angle between the first member and the second member is a predetermined angle, and in which a through hole is formed; a first locking member that passes through the through hole and locks the restricting member to the second member; a second locking member that locks the restricting member to the second member, When viewed from a direction along the rotation axis, a distance between the abutment portion and the first locking member is shorter than a distance between the abutment portion and the second locking member; a length of the through hole in a direction from the first locking member toward the abutting portion is longer than a diameter of the first locking member; robot.
2. When viewed from a direction along the rotation axis, the length of the through hole in the direction along the rotation direction centered on the rotation axis is longer than the diameter of the first locking member, The robot of claim 1 .
3. When viewed from a direction along the rotation axis, the width of the through hole in a direction intersecting the direction along the rotation direction decreases from the first locking member toward the abutment portion. The robot according to claim 2.
4. When viewed from a direction along the rotation axis, the shape of a portion of the through hole is one-sided tapered, two-sided tapered, or arc-shaped. The robot according to claim 3.
5. when a line segment is drawn from the rotation shaft through the through hole and across the regulating member as viewed from a direction along the rotation shaft, a dimension of a first portion between the through hole and the rotation shaft among portions where the line segment and the regulating member overlap is smaller than a dimension of a second portion located at a position beyond the through hole from the rotation shaft; The robot according to claim 3.
6. The through hole is a first through hole, and the abutment portion is a first abutment portion, the restricting member has a second contact portion that contacts the first member on the opposite side to the first contact portion, and a second through hole is formed; the second locking member locks the restricting member to the second member through the second through-hole; The robot according to any one of claims 1 to 5.
7. The restricting member has a notch between the first locking member and the second locking member. The robot according to any one of claims 1 to 5.
8. The notch portion is a first notch portion, and a second notch portion is provided inside the first notch portion. The robot according to claim 7.
9. The notch portion is provided on the restricting member on the rotation center side of the second member. The robot according to claim 7.
10. The restricting member has a thin portion between the first locking member and the second locking member. The robot according to any one of claims 1 to 5.
11. A robot system including a robot and a controller that controls the robot, The robot A first member; a second member rotatably connected to the first member about a rotation axis; a restricting member having a contact portion that contacts the first member when the angle between the first member and the second member is a predetermined angle, and in which a through hole is formed; a first locking member that passes through the through hole and locks the restricting member to the second member; a second locking member that locks the restricting member to the second member, When viewed from a direction along the rotation axis, a distance between the abutment portion and the first locking member is shorter than a distance between the abutment portion and the second locking member; a length of the through hole in a direction from the first locking member toward the abutting portion is longer than a diameter of the first locking member; Robot system.